@inproceedings{ahlrichs1999knowledge,
title = {Knowledge Based Image and Speech Analysis for Service Robots},
booktitle = {Integration of Speech and Image Understanding},
author = {Ulrike Ahlrichs and Fischer, J. and Joachim Denzler and Christopher Drexler and Heinrich Niemann and Elmar Nöth and Dietrich Paulus},
year = {1999},
pages = {21--47},
}